CN110328560A - A kind of mechanical arm system and method for processing complicated sphere curved surface shell - Google Patents
A kind of mechanical arm system and method for processing complicated sphere curved surface shell Download PDFInfo
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- CN110328560A CN110328560A CN201910701037.XA CN201910701037A CN110328560A CN 110328560 A CN110328560 A CN 110328560A CN 201910701037 A CN201910701037 A CN 201910701037A CN 110328560 A CN110328560 A CN 110328560A
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 210000000078 claw Anatomy 0.000 claims description 15
- 239000007769 metal material Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000001788 irregular Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 229920000620 organic polymer Polymers 0.000 claims 1
- 239000002861 polymer material Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000011368 organic material Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/02—Milling surfaces of revolution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/02—Milling surfaces of revolution
- B23C3/023—Milling spherical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of mechanical arm systems and method for processing complicated sphere curved surface shell, the mechanical arm system includes mechanical arm, Working rack, processing unit (plant), workpiece image acquisition device and console, wherein: Working rack is set in mechanical arm working range, for fixing workpiece；Processing unit (plant) is connected to the end of mechanical arm by clamp body, which has process tool, and clamp body is equipped with the force snesor for incuding the size of power between process tool and workpiece in process；Workpiece image acquisition device is used to obtain the 3-D image of workpiece, and obtains the coordinate information feature of workpiece；Console is used to receive the coordinate information characteristic and force sensor data of workpiece, and controls mechanical arm, to work pieces process.Compared with prior art, the configuration of the present invention is simple, stable operation and precision are high.
Description
Technical field
The present invention relates to sphere curved surface shell processing technique fields, more particularly, to a kind of complicated sphere curved surface shell of processing
Mechanical arm system and method.
Background technique
When being processed in a variety of different curve shells to these parts, when traditional processing method need to spend a large amount of
Between and energy, and precision is very low.Chinese patent CN107807610A discloses a kind of complex curved surface parts based on feature database
Mechanical arm system of processing and method, the system include: that property data base, process planning and characteristic matching module, code conversion connect
Mouth, message processing module, Machining Simulation Module, actual processing module.The method comprising the steps of: to complex curved surface parts feature into
Row analysis and extraction match similar information from property data base, and formulation processing process and setting are corresponding to process work
Skill parameter；Digitalized artificial analysis is carried out to the process of complex curved surface parts to be processed；It is treated by actual processing module
It processes complex curved surface parts and carries out mechanical arm Milling Process.This method and system are extracted and are added for the Machining of Curved Surface of Various Complex
Work part feature establish database will be complicated many, workload can be very big, and precision is not high during processing.
Summary of the invention
It is complicated spherical that it is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of processing
The mechanical arm system and method for cambered shell.
The purpose of the present invention can be achieved through the following technical solutions:
The present invention provides a kind of mechanical arm system for processing complicated sphere curved surface shell, comprising:
Mechanical arm,
Working rack is set in mechanical arm working range, for fixing workpiece,
Processing unit (plant) is connected to the end of mechanical arm by clamp body, which has process tool, on clamp body
Equipped with the force snesor for incuding the size of power between process tool and workpiece in process,
Workpiece image acquisition device for obtaining the 3-D image of workpiece, and obtains the coordinate information feature of workpiece,
Console for receiving the coordinate information characteristic and force sensor data of workpiece, and controls mechanical arm, to work
Part processing.
As currently preferred technical solution, the Working rack includes the profile being vertically arranged and is adjustably set to
Upper mobile claw and lower mobile claw on profile, the upper mobile claw and lower mobile claw cooperation, press from both sides workpiece
It holds.
As currently preferred technical solution, the processing unit (plant) further includes processing motor, the processing motor
It is sequentially connected with process tool, for driving process tool to rotate.
As currently preferred technical solution, the clamp body is by connecting plate and is respectively arranged at before and after connecting plate
The front and rear panels at both ends form, and connecting plate is connect with mechanical arm, and are equipped with sliding motor seat, and the processing motor is located at folder
In specific, and connect with sliding motor seat, process tool is pierced by from foreboard, force snesor be set to processing motor and back plate it
Between.
As currently preferred technical solution, the workpiece image acquisition device includes depth camera and computer,
The depth camera obtains the depth image of workpiece, and the 3-D image of workpiece is calculated according to depth image for computer, and
The coordinate information feature of workpiece is calculated according to the coordinate position of Working rack.
The technical solution further preferred as the present invention, the computer is the electricity for being equipped with Hexsight software
Brain.Hexsight software handles the picture of transmission, finds out the position of workpiece in a coordinate system.
As currently preferred technical solution, the mechanical arm is six shaft mechanical arms.
As currently preferred technical solution, the shape of workpiece includes spherical surface shell, ellipsoid face-piece, parabolic face-piece, double
Any one of bent shallow shell, hyperbolic paraboloid shell, hyperbolic-parabolic saddle type shell and irregular sphere curved surface shell, the material of workpiece
Material includes any one of inorganic non-metallic material, high-molecular organic material and metal material.
The present invention also provides a kind of methods for processing complicated sphere curved surface shell, using the mechanical arm system, the party
Method the following steps are included:
S1: workpiece is fixed on Working rack；
S2: the 3-D image of workpiece is obtained using workpiece image acquisition device, and obtains the coordinate information feature of workpiece；
S3: console is debugged according to the coordinate information feature of workpiece by console simulation program simulating cutting, until
Simulating cutting is met the requirements；
S4: when simulating cutting reaches requirement, control process tool is moved to correct coordinate, carries out actual processing, adds
During work, the size data of the power obtained according to force snesor adjusts in real time.
Of the invention can extract the feature of workpiece using depth camera, obtain the relevant information of curved surface part, nothing
Complicated characteristic information library need to be established, manageable workload data reduction and more standard are quickly converted the information into
Really, more it is bonded the trend of modernization, the application also uses force snesor, and when processing curve shell, piece surface power is multiple
Miscellaneous, it is careless slightly to destroy part, therefore the size of power is detected during processing, it transmits information to console and is adjusted
It is whole.The present invention utilizes image recognition technology, the communication technology and computer technology, and the cutter on mechanical arm can be processed arbitrarily
Cambered shell has the characteristics that scanning speed is fast, strong real-time, precision are high, initiative is strong, digital feature, can be greatly
Cost is reduced, saves the time, and easy to use.
Compared with prior art, the present invention obtains the relevant information of cambered shell, and quickly converting the information into can handle
Data, workload reduces and more accurate, is applicable in the processing of different curve shell, is more bonded the trend of modernization.
The present invention has the characteristics that scanning speed is fast, strong real-time, precision are high, initiative is strong, digital feature, can greatly reduce
Cost saves the time, and easy to use.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the mechanical arm system that the present invention processes complicated sphere curved surface shell；
Fig. 2 is the flow diagram for the method that the present invention processes complicated sphere curved surface shell.
In figure, 1 is mechanical arm, and 2 be Working rack, and 21 be profile, and 22 be upper mobile claw, and 23 be lower mobile claw, and 3 are
Processing unit (plant), 31 be process tool, and 32 be processing motor, and 41 be connecting plate, and 42 be foreboard, and 43 be back plate, and 44 be force snesor,
45 be sliding motor seat, and 5 be depth camera, and 6 be computer connection wire, and 7 be console connecting line, and 8 be workpiece.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of mechanical arm system for processing complicated sphere curved surface shell, as shown in Figure 1, include mechanical arm 1, Working rack 2,
Processing unit (plant) 3, workpiece image acquisition device and console, in which: Working rack 2 is set in 1 working range of mechanical arm, is used for
Fixed workpiece 8；Processing unit (plant) 3 is connected to the end of mechanical arm 1 by clamp body, which has process tool 31, folder
Particularly it is equipped with the force snesor 44 for incuding the size of power between process tool 31 and workpiece 8 in process；Workpiece figure
As acquisition device is used to obtain the 3-D image of workpiece 8, and obtain the coordinate information feature of workpiece 8；Console is for receiving work
The coordinate information characteristic and force sensor data of part 8, and mechanical arm 1 is controlled, workpiece 8 is processed.
In the present embodiment, mechanical arm 1 preferably uses six shaft mechanical arms, to meet the processing of complex-curved shell.Work branch
Frame 2 includes the profile 21 being vertically arranged and the upper mobile claw 22 and the lower mobile claw 23 that are adjustably set on profile 21, is moved up
Dynamic claw 22 and the cooperation of lower mobile claw 23, clamp workpiece 8.The shape of workpiece 8 include spherical surface shell, ellipsoid face-piece,
Any in parabolic face-piece, double curved shell, hyperbolic paraboloid shell, hyperbolic-parabolic saddle type shell and irregular sphere curved surface shell
Kind, the material of workpiece includes any one of inorganic non-metallic material, high-molecular organic material and metal material.For different
Workpiece 8 can be sized by moving up and down claw, and nut tightens fixation.
Processing unit (plant) in the present embodiment further includes processing motor 32, processes motor 32 and add other than process tool 31
Work cutter 31 is sequentially connected, for driving process tool 31 to rotate.Clamp body is by connecting plate 41 and is respectively arranged at connecting plate
The foreboard 42 and back plate 43 of 41 rear and front ends form, and connecting plate 41 is connect with mechanical arm 1, and are equipped with sliding motor seat 45, processing
Motor 32 is located in clamp body, and connect with sliding motor seat 45, and process tool 31 is pierced by from foreboard 42, and force snesor 44 is arranged
Between processing motor 32 and back plate 43.
In the present embodiment, workpiece image acquisition device includes depth camera 5 and computer, and depth camera 5 obtains workpiece 8
The 3-D image of workpiece 8 is calculated according to depth image for depth image, computer, and according to the coordinate position of Working rack 2
The coordinate information feature of workpiece 8 is calculated.In the present embodiment, preferred depth camera 5 passes through computer connection wire 6 and computer
Connection.Computer is also connect with console, and console is connect by console connecting line with mechanical arm 1.Depth camera 5 is dedicated
Hardware in terms of machine vision, matched software are also special disposal three-dimensional optical figure, the workpiece that depth camera is scanned
Three-dimensional figure sends computer to, handles on software, then the coordinate information feature of workpiece 8 is transferred to control by string letter port
Platform.Console is programmed debugging to these coordinates, to control processing of the mechanical arm 1 to workpiece 8.Depth camera 5 is to workpiece 8
Scanning can be rotated by the way that depth camera 5 is surrounded workpiece 8, or control workpiece 8 rotates on Working rack 2, or uses it
He realizes mode.
As shown in Fig. 2, the method for processing complicated sphere curved surface shell, using above-mentioned mechanical arm system, this method include with
Lower step:
S1: workpiece 8 is fixed on Working rack 2；
S2: the 3-D image of workpiece 8 is obtained using workpiece image acquisition device, and obtains the coordinate information feature of workpiece 8；
S3: console is debugged according to the coordinate information feature of workpiece 8 by console simulation program simulating cutting, until
Simulating cutting is met the requirements；
S4: when simulating cutting reaches requirement, control process tool 31 is moved to correct coordinate, carries out actual processing,
In process, the size data of the power obtained according to force snesor 44 adjusts in real time.
Of the invention can extract the feature of workpiece using depth camera, obtain the relevant information of curved surface part, nothing
Complicated characteristic information library need to be established, manageable workload data reduction and more standard are quickly converted the information into
Really, more it is bonded the trend of modernization, the application also uses force snesor, and when processing curve shell, piece surface power is multiple
Miscellaneous, it is careless slightly to destroy part, therefore the size of power is detected during processing, it transmits information to console and is adjusted
It is whole.The present invention utilizes image recognition technology, the communication technology and computer technology, and the cutter on mechanical arm can be processed arbitrarily
Cambered shell has the characteristics that scanning speed is fast, strong real-time, precision are high, initiative is strong, digital feature, can be greatly
Cost is reduced, saves the time, and easy to use.
The above-mentioned description to embodiment is for ease of ordinary skill in the art to understand and use the invention.It is ripe
The personnel for knowing art technology obviously easily can make various modifications to these embodiments, and general original described herein
It ought to use in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, this field
Technical staff's announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be in guarantors of the invention
Within the scope of shield.
Claims (8)
1. a kind of mechanical arm system for processing complicated sphere curved surface shell characterized by comprising
Mechanical arm (1),
Working rack (2) is set in mechanical arm (1) working range, for fixing workpiece (8),
Processing unit (plant) (3), the end of mechanical arm (1) is connected to by clamp body, which has process tool
(31), clamp body is equipped with the power for incuding the size of power between process tool in process (31) and workpiece (8) and senses
Device (44),
Workpiece image acquisition device for obtaining the 3-D image of workpiece (8), and obtains the coordinate information feature of workpiece (8),
Console for receiving the coordinate information characteristic and force sensor data of workpiece (8), and controls mechanical arm (1), right
Workpiece (8) processing.
2. a kind of mechanical arm system for processing complicated sphere curved surface shell according to claim 1, which is characterized in that described
Working rack (2) include the profile (21) being vertically arranged and the upper mobile claw (22) being adjustably set on profile (21) and under
Mobile claw (23), the upper mobile claw (22) and lower mobile claw (23) cooperation, clamp workpiece (8).
3. a kind of mechanical arm system for processing complicated sphere curved surface shell according to claim 1, which is characterized in that described
Processing unit (plant) further include processing motor (32), the processing motor (32) and process tool (31) are sequentially connected, and are used for band
Dynamic process tool (31) rotation.
4. a kind of mechanical arm system for processing complicated sphere curved surface shell according to claim 3, which is characterized in that described
Clamp body by connecting plate (41) and be respectively arranged at the foreboard (42) of connecting plate (41) rear and front end and back plate (43) forms,
Connecting plate (41) is connect with mechanical arm (1), and is equipped with sliding motor seat (45), and the processing motor (32) is located at clamp body
It is interior, and connect with sliding motor seat (45), process tool (31) is pierced by from foreboard (42), and force snesor (44) is set to processing electricity
Between machine (32) and back plate (43).
5. a kind of mechanical arm system for processing complicated sphere curved surface shell according to claim 1, which is characterized in that described
Workpiece image acquisition device include depth camera (5) and computer, the depth camera (5) obtains the depth of workpiece (8)
The 3-D image of workpiece (8) is calculated according to depth image for image, computer, and according to the coordinate position of Working rack (2)
The coordinate information feature of workpiece (8) is calculated.
6. a kind of mechanical arm system for processing complicated sphere curved surface shell according to claim 1, which is characterized in that described
Mechanical arm (1) be six shaft mechanical arms.
7. a kind of mechanical arm system for processing complicated sphere curved surface shell according to claim 1, which is characterized in that workpiece
(8) shape includes spherical surface shell, ellipsoid face-piece, parabolic face-piece, double curved shell, hyperbolic paraboloid shell, hyperbolic-parabolic saddle
Any one of shape shell and irregular sphere curved surface shell, the material of workpiece include inorganic non-metallic material, organic polymer material
Any one of material and metal material.
8. a kind of method for processing complicated sphere curved surface shell, which is characterized in that using any machine of claim 1~7
Tool arm system, method includes the following steps:
S1: workpiece (8) is fixed on Working rack (2)；
S2: the 3-D image of workpiece (8) is obtained using workpiece image acquisition device, and obtains the coordinate information feature of workpiece (8)；
S3: console passes through console simulation program simulating cutting, debugging, until mould according to the coordinate information feature of workpiece (8)
Quasi- processing is met the requirements；
S4: when simulating cutting reaches requirement, control process tool (31) is moved to correct coordinate, carries out actual processing, adds
During work, the size data of the power obtained according to force snesor (44) adjusts in real time.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910701037.XA CN110328560A (en) | 2019-07-31 | 2019-07-31 | A kind of mechanical arm system and method for processing complicated sphere curved surface shell |
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| CN201910701037.XA CN110328560A (en) | 2019-07-31 | 2019-07-31 | A kind of mechanical arm system and method for processing complicated sphere curved surface shell |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113927076A (en) * | 2021-11-23 | 2022-01-14 | 贵州天义电器有限责任公司 | Tool and method for machining spherical surface of part |
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